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Force Estimation on Teleoperation Dataset (Soft (Seen))
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0.17
RMSE (N)
Transformer
0.1632
0.2091
0.255
0.3009
May 29, 2026
RMSE (N)
NRMSE (%)
R2 (%)
Updated 2d ago
Evaluation Results
Method
Method
Links
RMSE (N)
NRMSE (%)
R2 (%)
Transformer
Axis=Fy, Range (N)=3.9...
2026.05
0.17
4.35
91.9
Transformer
Axis=Fx, Range (N)=4.4...
2026.05
0.18
4.05
92.5
LSTM
Axis=Fy, Range (N)=3.9...
2026.05
0.26
6.75
81.02
LSTM
Axis=Fx, Range (N)=4.4...
2026.05
0.28
6.48
80.83
LSTM
Axis=Fz, Range (N)=6.8...
2026.05
0.3
4.47
88.75
Transformer
Axis=Fz, Range (N)=6.8...
2026.05
0.34
5.01
86.51
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